EP3347787B1 - Verfahren und vorrichtung zum betreiben eines fahrzeugs - Google Patents

Verfahren und vorrichtung zum betreiben eines fahrzeugs Download PDF

Info

Publication number
EP3347787B1
EP3347787B1 EP16741290.7A EP16741290A EP3347787B1 EP 3347787 B1 EP3347787 B1 EP 3347787B1 EP 16741290 A EP16741290 A EP 16741290A EP 3347787 B1 EP3347787 B1 EP 3347787B1
Authority
EP
European Patent Office
Prior art keywords
vehicle
emergency stop
surroundings
carpark
management server
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP16741290.7A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3347787A1 (de
Inventor
Stefan Nordbruch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3347787A1 publication Critical patent/EP3347787A1/de
Application granted granted Critical
Publication of EP3347787B1 publication Critical patent/EP3347787B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles

Definitions

  • the invention relates to a method and a device for operating a vehicle.
  • the invention relates to a vehicle.
  • the invention also relates to a method for operating a parking lot for vehicles.
  • the invention relates to a parking space for vehicles and a computer program.
  • the disclosure document DE 10 2012 222 562 A1 shows a system for managed parking spaces for transferring a vehicle from a starting position to a target position.
  • valet parking With fully automated (autonomous) so-called valet parking, a vehicle is parked by its driver at a delivery point, for example in front of a parking garage, and from there the vehicle itself drives to a parking position / parking bay and back to the delivery point.
  • the disclosure document US 2010/0156672 A1 discloses a system and method for automatically parking vehicles.
  • the disclosure document DE 10 2014 014 249 A1 discloses a method of operating a motor vehicle.
  • EP 1 143 314 A1 discloses a concept for detecting an error in a processor.
  • the object on which the invention is based is to be seen in providing an efficient concept which efficiently reduces the risk of an accident or collision for a vehicle driving without a driver within a parking lot.
  • a vehicle which is designed for driverless driving within a parking lot, the vehicle comprising the device for operating a vehicle.
  • a method for operating a parking lot for vehicles wherein when a vehicle is driven without a driver inside the parking lot and when there is an emergency stop request that the vehicle should stop, it is checked outside the vehicle whether the stop is necessary is, with an emergency stop signal generated and sent to the driver-free vehicle via a communication network only if the check is positive.
  • a parking lot for vehicles is provided, the parking lot being designed to carry out the method for operating a parking lot for vehicles.
  • a computer program which comprises program code for carrying out the method for operating a vehicle and / or for carrying out the method for operating a parking lot for vehicles when the computer program is executed on a computer.
  • the invention therefore includes, in particular and among other things, the idea that before the driverless vehicle stops in response to an emergency stop signal, it is first checked whether a stop is necessary. If the check determines that stopping is not necessary, the vehicle will not stop regardless of the fact that there is an emergency stop request for the vehicle.
  • an emergency stop signal is generated in response to which the vehicle stops without a driver. So this means that a positive check means that the check indicated that a stop is necessary. A negative check means that the check shows that a stop is not necessary.
  • the technical advantage is thus achieved that the vehicle can be stopped efficiently when an emergency stop request is present.
  • the provision of the check has the technical advantage in particular that acceptance for such a concept is increased. Because if there are too many false alarms, the acceptance of a concept that provides for stopping in the event of an emergency stop request could decrease, because false alarms are generally not popular. For example, a disrupted operation of the vehicle could unnecessarily cost users time. Thus, due to the inventive provision of the check, for example, the technical advantage can be brought about that time can be saved for a user if operation of the vehicle or the parking lot is not or at least less disturbed.
  • a vehicle is a motor vehicle.
  • the motor vehicle is, for example, a passenger car (car) or a truck (truck).
  • the motor vehicle is, for example, a two-wheeled motor vehicle, for example a motorcycle.
  • Vehicles within the meaning of the present invention are thus, for example, motor vehicles.
  • a parking lot in the sense of the present invention can be referred to as a parking area and serves as a parking area for vehicles.
  • the parking lot thus forms a coherent area that has several parking spaces (for a parking lot on private land) or parking spaces (for a parking lot on public land).
  • the parking lot is designed as a parking garage.
  • the parking lot is designed as a parking garage.
  • the driverless drive of the vehicle is included in an automatic parking process.
  • Such an automatic parking process includes that the vehicle is guided from a starting position, which can also be referred to as a delivery position, to a parking position without a driver or driver and is parked there.
  • the automatic parking process also includes that the vehicle is guided from the parking position to a pick-up position without a driver or driver and is parked there.
  • a delivery position denotes a position at which the vehicle is to be parked by a person in order to carry out an automatic parking process.
  • a pick-up position refers to a position at which a person should pick up the vehicle after the end of the automatic parking process.
  • An automatic parking process can be referred to as an AVP process.
  • AVP stands for "automated valet parking” and can be referred to as "automatic parking process”.
  • driverless driving includes remote control of the vehicle. This means, for example, that remote control commands are sent to the vehicle.
  • a driverless journey includes, for example, that the vehicle drives autonomously, i.e. independently.
  • hybrid forms are provided, that is, the vehicle is remote-controlled one part of the route and drives another part of the route autonomously.
  • a target position within the parking lot is transmitted to the vehicle, the vehicle then driving to this target position autonomously, that is to say independently.
  • the vehicle navigates to the target position based on a digital map of the parking lot.
  • This digital map is transmitted to the vehicle, for example via a communication network.
  • information is transmitted to the vehicle via the communication network which is relevant for an autonomous journey within the parking lot.
  • the vehicle then drives autonomously within the parking lot based on this information, in particular to the target position.
  • Such information includes, for example: positions of other vehicles, speed data of other vehicles, a target trajectory to be followed by the vehicle.
  • the checking includes checking whether a further emergency stop request and / or another emergency stop signal is or is present, wherein the emergency stop signal is generated only when a further emergency stop request and / or another emergency stop signal is or are present.
  • this has the technical advantage that the checking can be carried out efficiently. For example, it can be ensured in an advantageous manner that there must be two emergency stop requests and / or two emergency stop signals from different sources before an emergency stop signal is generated, in response to which the vehicle stops without a driver.
  • the emergency stop request is sent to the vehicle via a communication network.
  • this has the technical advantage that the vehicle is enabled to carry out the check itself. This is particularly useful because the vehicle must finally perform the emergency stop, i.e. stopping.
  • the further emergency stop request and / or the other emergency stop signal are sent to the vehicle via the communication network.
  • this has the technical advantage that the vehicle can be efficiently signaled that there is or are still another emergency stop request or another emergency stop signal, so that when the vehicle itself has generated an emergency stop request, the vehicle can now efficiently decide that that Stopping is necessary if, in addition to the self-generated emergency stop request, a further emergency stop request or another emergency stop signal is or is present, which is a sign that a stop is necessary.
  • the checking is carried out by means of the vehicle or a parking space management server external to the vehicle.
  • this has the technical advantage that the decision as to whether adhesion is necessary is made by the person who also has to implement the decision made when the vehicle is checked.
  • the parking space management server checks the resources of the parking space management server are advantageously used efficiently. This is often technically better equipped than a vehicle-internal checking device and can therefore carry out the checking faster and more efficiently.
  • the parking space management server usually has more information sources available that can be used for checking than the vehicle. Such information sources are, for example, environmental sensors that are arranged within the parking lot.
  • the emergency stop request is generated by the vehicle on the basis of a hazard situation recognized by the vehicle itself or was generated by the parking space management server itself on the basis of a hazard situation recognized by the parking space management server, the checking comprising that the vehicle or the parking space management server checks the identified hazard situation, whether stopping necessary is.
  • this has the technical advantage that a recognized hazard situation can be checked efficiently.
  • a dangerous situation includes, for example, an impending collision with an object.
  • an object is, for example, another vehicle, a parking lot infrastructure or a person.
  • a dangerous situation therefore means in particular that an object is located in the vicinity of the vehicle, with the threat of a collision with this object.
  • an environment sensor system comprises one or more environment sensors.
  • An environment sensor is, for example, one of the following environment sensors: video sensor, laser sensor, ultrasonic sensor, lidar sensor, magnetic sensor or radar sensor.
  • the detection of the dangerous situation therefore includes, in particular, a detection of the surroundings by means of the vehicle's surroundings sensors.
  • the recorded environment is then analyzed in particular for possible danger situations.
  • speed data and position data of the vehicle in particular are taken into account.
  • the parking space management server recognizes the danger situation by means of an environment sensor system which is arranged within the parking space.
  • An environment sensor system comprises one or more environment sensors.
  • An environment sensor is, for example, one of the following environment sensors: video sensor, laser sensor, ultrasonic sensor, lidar sensor, magnetic sensor or radar sensor.
  • the detection of the dangerous situation thus includes, in particular, a detection of the surroundings by means of the surroundings sensor or sensors arranged within the parking lot.
  • the recorded environment is then analyzed in particular for possible danger situations. In this analysis, speed data and position data of the vehicle in particular are taken into account.
  • the environment sensors of the vehicle can be referred to as vehicle-internal environment sensors.
  • the environment sensor system which is arranged within the parking lot, can be referred to as an environment sensor system external to the vehicle or an environment sensor system which is internal to the parking lot.
  • the hazard situation was recognized based on a first environment detection of a first environment sensor, the checking of the identified hazard situation being carried out based on a second environment detection of a second environment sensor in order to check the plausibility of the first and the second environment detection against each other.
  • malfunctions or incorrect detection of the first environment sensor can be compensated for or recognized.
  • the second environment sensor is also a situation recognizes in which a stop is necessary, it can be assumed with a greater probability that a stop is really necessary than if only one environment sensor were used.
  • the plausibility check includes, for example, checking whether objects that were detected in the environment according to the first environment detection can also be detected based on the second environment detection.
  • the first environment sensor and the second environment sensor are, for example, environment sensors of an environment sensor system of the vehicle.
  • the vehicle detects its surroundings by means of such an environment sensor system.
  • Environment data for example first environment data (the environment data of the first environment sensor and second environment data (the environment data of the second environment sensor) are then formed in accordance with the captured environment, and are analyzed to determine whether or not stopping is necessary.
  • the first and the second environment sensor are environment sensors of the parking space sensor system.
  • the first environment sensor is an environment sensor of a vehicle-internal environment sensor system and the second environment sensor is an environment sensor of a parking space sensor system or vice versa.
  • the parking space management server receives an emergency stop request from the vehicle, which is then checked by means of the parking space management server, with an emergency stop signal being sent from the parking space management server to the vehicle via the communication network if the check is positive.
  • the parking space management server sends an emergency stop request to the vehicle, which is then checked by the vehicle can or will, in which case an emergency stop signal can or will be generated by the vehicle itself if the check is positive.
  • both the first and the second environment sensor carry out a respective environment detection again, so that based on the respective renewed environment detection It is checked whether it is necessary to stop, with the emergency stop signal being generated if the respective checking of the renewed detection of the surroundings comes to different results.
  • this has the technical advantage that security can be further increased.
  • the renewed detection of the surroundings with a new check can advantageously and efficiently identify any errors in the surroundings sensors.
  • situations can be efficiently identified in this way that are difficult to analyze to determine whether or not there is only a dangerous situation that makes stopping necessary or not.
  • Such unclear situations can usually lead to different results. In unclear situations it makes more sense for safety reasons to stop, which is therefore provided according to the invention.
  • the renewed test therefore provides both comfort (do not stop immediately with every emergency stop request without checking it) and security (renewed test of the situation with stopping if the environment detection analyzes come to different results).
  • the first and the second environment sensor are designed, for example, identically or differently.
  • the first environment sensor can be a radar sensor.
  • the second environment sensor is, for example, a video sensor.
  • the environment sensors detect two radar sensors.
  • the first environment sensor would then be a radar sensor and the second environment sensor would be a radar sensor.
  • the device for operating a vehicle is set up or designed to execute or carry out the method for operating a vehicle.
  • Technical functionalities of the device for operating a vehicle result analogously from corresponding technical functionalities of the method for operating a vehicle, and vice versa.
  • Statements made in connection with the device for operating a vehicle apply analogously to embodiments relating to the method for operating a vehicle and vice versa.
  • an emergency stop request is received by means of a parking space management server of the parking lot from a subscriber of a communication network via the communication network, the external vehicle check being carried out by means of the parking space management server, which generates the emergency stop signal in the event of a positive check and is sent to the driverless vehicle via a Communication network sends.
  • a communication network in the sense of the present invention comprises in particular a WLAN communication network and / or a cellular network and / or a communication network according to the LoRa standard. "LoRa” stands for "Low Power Wide-Range Communication”. According to one embodiment, the communication network thus comprises a LoRa communication network.
  • communication via the communication network is or is encrypted.
  • the emergency stop signal which is generated after the check, comprises, according to one embodiment, an identifier or a marking that a check has taken place.
  • a receiver of the emergency stop signal in particular the vehicle, knows in an advantageous manner that a check has already taken place, so that, for example, the vehicle stops immediately in response to the emergency stop signal without having to carry out its own check beforehand.
  • a new check is carried out in the event of a negative check. If the new check is also negative, an emergency stop signal is generated,
  • Fig. 1 shows a flow chart of a method for operating a vehicle.
  • a step 101 it is provided that when the vehicle is driving without a driver within a parking lot and when there is an emergency stop request that the driverless vehicle should stop, a check is made as to whether stopping is necessary. If it is established in the checking step 101 that stopping is necessary, an emergency stop signal is generated in accordance with a step 103. It is provided that an emergency stop signal is only generated if the check is positive. This means that the emergency stop request in particular must be confirmed. This, for example, by means of a further emergency stop request and / or by means of another emergency stop signal. This means that the emergency stop signal is only generated when the emergency stop request is confirmed.
  • the emergency stop signal can in this respect generally be referred to as a confirmed emergency stop signal.
  • a step 105 it is provided that the vehicle stops driverlessly in response to the emergency stop signal.
  • the emergency stop signal is sent to the vehicle via a communication network.
  • the vehicle stops in response to the receipt of the emergency stop signal.
  • the emergency stop signal is generated inside the vehicle. This, for example, because the vehicle has recognized a self-recognized danger situation and checked it again, i.e. checked, so that the vehicle has decided that it is necessary to stop.
  • Fig. 2 shows a device 201 for operating a vehicle.
  • the device 201 comprises an emergency stop device 203 which is designed to stop the vehicle in response to an emergency stop signal when the vehicle is driving without a driver within a parking lot.
  • the device 201 further comprises a checking device 205, which is designed to check, when there is an emergency stop request that the vehicle should stop, whether stopping is necessary, the checking device 205 being designed to provide an emergency stop signal for the emergency stop device 203 only if the check is positive to create.
  • the checking device 205 checks, for example, a recognized dangerous situation to determine whether the situation on which the dangerous situation is based makes stopping necessary. Only then does the checking device 205 generate an emergency stop signal for the emergency stop device 203, in response to which the emergency stop device 203 stops the vehicle.
  • an emergency stop request alone is not sufficient for the vehicle to stop. Rather, a confirmation of this emergency stop request is required.
  • This confirmation can include, for example, a further emergency stop request and / or a further emergency stop signal.
  • Another emergency stop signal alone is not enough for the vehicle to stop.
  • Fig. 3 shows a vehicle 301.
  • the vehicle 301 is designed for driverless driving within a parking lot.
  • the vehicle 301 comprises the device 201 according to FIG Fig. 2 .
  • Fig. 4 shows a flow chart of a method for operating a parking lot for vehicles.
  • a step 401 it is provided that when a vehicle is driving without a driver inside the parking lot and when there is an emergency stop request that the vehicle should stop, a check is carried out outside the vehicle to determine whether stopping is necessary. This means that the check does not take place in the vehicle, but outside the vehicle, for example by means of a parking space management server for the parking lot.
  • step 403 it is provided that an emergency stop signal is generated only if the check is positive. This means that step 403 is only carried out if the check according to step 401 has shown that stopping is necessary.
  • the emergency stop signal is sent in a step 405 to the driverless vehicle via a communication network.
  • the driverless vehicle in response to receipt of the emergency stop signal, the driverless vehicle in particular then stops.
  • Fig. 5 shows a parking lot 501.
  • the parking lot 501 comprises several parking areas 503 on which vehicles can park.
  • the parking lot 501 includes an entrance 505 and an exit 507.
  • the parking lot 501 comprises a parking lot management server 509, which is designed to execute or implement the method for operating a parking lot for vehicles.
  • the parking space management server 509 receives, for example, an emergency stop request from a subscriber in a communication network via the communication network. For example, this participant, who is located within the parking lot 501, has seen a situation for a driverless vehicle which, for example, could lead to a collision of the vehicle with another object. In this respect, he requests the vehicle to be stopped by the parking space management server.
  • this emergency stop request is checked. It is therefore checked by means of the parking space management server 509 whether stopping is necessary. For example, the parking space management server 509 checks the current situation in which the vehicle is located to determine whether a collision has a predetermined probability or a probability that is greater than a predetermined probability threshold value is. If this should be the case, this is a sign for the parking space management server 509 that stopping is necessary, since otherwise a collision could occur. In this respect, the parking space management server 509 generates an emergency stop signal and then sends this to the driverless vehicle via the communication network. Otherwise, no emergency stop signal is generated and, to this extent, no emergency stop signal is sent to the driverless vehicle via the communication network. The driverless vehicle will then continue its driverless journey in this case. The emergency stop request then does not lead to the goal of the driverless vehicle stopping.
  • the parking lot 501 is designed to implement or implement the method for operating a parking lot for vehicles.
  • Fig. 6 shows a scenario in a schematic and simplified representation in which the inventive concept is used.
  • a parking lot 600 is shown.
  • a vehicle 601 drives driverlessly in a lane 621 of the parking lot 600, for example remotely controlled or autonomously.
  • the vehicle 601 comprises a program 603, which comprises, for example, steps for performing the method for operating a vehicle when the program 603 (which is a computer program) is executed on a computer, in particular on a device for operating a vehicle.
  • the vehicle 601 the device 201 of Fig. 2 includes.
  • the vehicle 601 includes an environment sensor system 613, which can include a radar sensor, for example.
  • the environment sensor system 613 detects, for example, a person 615 who is located within the travel path of the vehicle 601. If the person 615 did not swerve or if the vehicle 601 did not swerve or stop, there would be a collision between the vehicle 601 and the person 615.
  • the vehicle 601 thus recognizes a dangerous situation. However, this danger situation alone is not sufficient for the vehicle 601 to stop. Confirmation is also required that this identified danger situation really makes it necessary to stop.
  • Such a confirmation can come from the person 615 himself, for example.
  • the person 615 carries a mobile terminal 617 with him.
  • the person 615 recognizes that the vehicle 601 is approaching them and that a collision could thus occur.
  • the person 615 thus transmits an emergency stop request to the vehicle 601 by means of the terminal 617.
  • the vehicle 601 thus has the following information: the identified hazard situation and the emergency stop request from the person 615. Thus, the identified hazard situation has been confirmed by the emergency stop request from the person 615. The vehicle 601 will then stop.
  • the person 615 is, for example, the driver of the vehicle 601 who has left his vehicle 601 but is still in his vicinity.
  • the vehicle 601 is on the move, for example, as part of an automatic parking process and has, for example, been parked by its driver in a delivery position from which the vehicle 601 is now on its way to a parking position.
  • the person 615 can transmit an emergency stop request to a parking space management server 605 via a communication network.
  • the parking space management server 605 comprises a program 607 which comprises, for example, steps for executing or carrying out the method for operating a parking space.
  • the parking lot management server 605 receives this emergency stop request and can thereupon check, for example, whether the present situation makes a stop necessary.
  • the parking space management server 605 records the present situation by means of a video camera 609.
  • the video camera 609 is attached to a ceiling 619 of the parking lot 600.
  • the drawing according to Fig. 6 suggest could that the video camera 609 only recorded the vehicle 601, the camera 609 has also recorded the person 615. This, for example, in that the camera 609 is attached to the ceiling 619 in a pivotable or rotatable manner.
  • the parking space management server 605 thus recognizes that a stop is necessary and generates and sends an emergency stop signal to the vehicle 601. This is done by means of a communication interface 611, which is, for example, a WLAN base station.
  • the communication interface 611 is also attached to the ceiling 619 of the parking lot 600.
  • the vehicle 601 has two pieces of information available: the self-recognized hazard situation and the emergency stop signal from the parking space management server 605.
  • the emergency stop signal originally generated by the vehicle 601 has been confirmed by the additional emergency stop signal from the parking space management server 605. The vehicle 601 will thus stop.
  • a pedestrian 625 has recognized the impending collision between the vehicle 601 and the person 615 and operates a switch 627 in order to request an emergency stop from the parking space management server 605. This request is transmitted to the parking space management server 605 analogously to the terminal 617 of the person 615. The following steps are analogous.
  • An operator 623 of the parking lot 600 recognizes by means of the parking lot management server 605 via the video camera 609 that a collision between the vehicle 601 and the person 615 could be imminent. It then sends an emergency stop signal to the vehicle 601 via the communication interface 611.
  • the vehicle 601 receives this emergency stop signal, but will not stop yet. This is because the emergency stop signal must first be confirmed before the vehicle 601 actually stops.
  • This confirmation can include, for example, that the vehicle 601 detects the person 615 by means of its environment sensor system 613 and comes to the conclusion that a collision is likely.
  • the confirmation can include, for example, that the vehicle 601 receives an emergency stop request that was sent by the person 615 to the vehicle 601 by means of the terminal 617.
  • the invention provides, in particular, a technical concept which increases acceptance of the provision of an emergency stop for vehicles that move within a parking lot without a driver or driver.
  • a basic idea according to the invention can be seen in particular in the fact that in unclear and / or dangerous situations an emergency stop (that is, a stopping) is only carried out on a confirmed signal. This means that an emergency stop signal alone is not enough. A confirmation for this emergency stop signal is still required, which in this respect can then be referred to as a confirmed emergency stop signal.
  • the corresponding trigger signals can come from the vehicle, the parking space management system, the driver or a pedestrian, for example.
  • a check is preferably carried out in the vehicle itself, since the vehicle has to carry out the emergency stop itself.
  • Situations or scenarios in which a stop is requested or in which an emergency stop signal is sent to the vehicle or in which the vehicle itself generates an emergency stop signal and stops in response to it after checking are in particular one or more of the following situations or scenarios:
  • the vehicle recognizes an unclear and / or recognized problem situation.
  • Such situations are, for example, the following situations: A pedestrian suddenly crosses the path of the vehicle, for example the pedestrian comes out between two vehicles.
  • the parking space management system has an internal error.
  • this internal error can be recognized as follows.
  • the parking space management system carries out check routines and / or redundant calculation functions. In this way, components of the parking space management system and / or the parking space management system itself are checked as a whole.
  • the monitoring sensors for example cameras
  • the environment sensors are checked for functionality, for example for a frozen image and / or whether a signal is coming from the camera (generally from the environment sensor). If it is determined in this way that an environment sensor is not functioning properly, this is recognized as an internal error.
  • the parking space management system detects an error, the occurrence of the error is communicated to the vehicle via the communication network, whereupon the vehicle waits, for example, before stopping, whether the parking space management system really explicitly requests the vehicle to stop. This means that an internal error in the parking space management system is not sufficient for the vehicle to stop when the internal error is known. Only if the check is positive, here, for example, the explicit request to stop by the parking space management system, does the vehicle stop.
  • the parking space management system sends an emergency stop signal to the vehicle via the communication network after the internal error has been recognized.
  • the vehicle has an internal fault.
  • This internal error can, for example, be recognized in the same way as recognizing an internal error in the parking space management system.
  • the internal fault of the vehicle only leads to the vehicle being stopped after a positive check.
  • the vehicle's internal sensor systems detect that a pedestrian is walking into the route.
  • a vehicle-internal sensor system is, for example, an environment sensor system of the vehicle.
  • An internal program which runs on a computer in the vehicle, detects problems, for example: no communication between the vehicle and the parking space management server and / or no communication between the vehicle and another vehicle, an internal functional error (for example, an autonomous driving functionality is working no longer or no longer correct), internal problems with components (vehicle systems, for example the brake reports an error).
  • problems for example: no communication between the vehicle and the parking space management server and / or no communication between the vehicle and another vehicle, an internal functional error (for example, an autonomous driving functionality is working no longer or no longer correct), internal problems with components (vehicle systems, for example the brake reports an error).
  • the internal program cannot clearly assess a situation, such as whether there are perhaps pedestrians in the route.
  • the following situations can occur in the parking lot management or parking lot management system: Initially, similar or identical situations can occur with regard to the vehicle, only that the parking space management system is used here instead of the vehicle.
  • a parking lot operator sees a problem and wants to trigger an emergency stop for one or all vehicles.
  • the driver who is still nearby sees a problem and wants to trigger an emergency stop for one or more or all vehicles.
  • the driver can trigger such an emergency stop directly via his mobile phone, for example, by sending an emergency stop signal directly to his vehicle.
  • a passerby who is nearby sees a problem and wants to trigger an emergency stop for one or more or all of the vehicles. This is analogous to the driver using a mobile phone and using an emergency stop request that is sent to the parking space management server.
  • the parking lot comprises an emergency switch which, when actuated by a passer-by or user, sends an emergency stop request to the parking space management server, so that the latter then carries out a check in response to the receipt of the emergency stop request and sends an emergency stop signal to the vehicle only after a positive check.
  • an emergency switch which, when actuated by a passer-by or user, sends an emergency stop request to the parking space management server, so that the latter then carries out a check in response to the receipt of the emergency stop request and sends an emergency stop signal to the vehicle only after a positive check.
  • the inventive concept can be transferred to several driverless vehicles driving within the parking lot, so that these vehicles only stop immediately, i.e. exclusively, in response to a checked emergency stop signal, i.e. only if there is a positive check as to whether stopping is necessary .

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Traffic Control Systems (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
EP16741290.7A 2015-09-11 2016-07-15 Verfahren und vorrichtung zum betreiben eines fahrzeugs Active EP3347787B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015217389.5A DE102015217389A1 (de) 2015-09-11 2015-09-11 Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs
PCT/EP2016/066867 WO2017041942A1 (de) 2015-09-11 2016-07-15 Verfahren und vorrichtung zum betreiben eines fahrzeugs

Publications (2)

Publication Number Publication Date
EP3347787A1 EP3347787A1 (de) 2018-07-18
EP3347787B1 true EP3347787B1 (de) 2020-12-09

Family

ID=56497754

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16741290.7A Active EP3347787B1 (de) 2015-09-11 2016-07-15 Verfahren und vorrichtung zum betreiben eines fahrzeugs

Country Status (5)

Country Link
US (1) US10713954B2 (zh)
EP (1) EP3347787B1 (zh)
CN (1) CN108027615B (zh)
DE (1) DE102015217389A1 (zh)
WO (1) WO2017041942A1 (zh)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015217390A1 (de) * 2015-09-11 2017-03-16 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs sowie Verfahren zum Betreiben eines Parkplatzes
US20170329346A1 (en) * 2016-05-12 2017-11-16 Magna Electronics Inc. Vehicle autonomous parking system
DE102018101454A1 (de) * 2018-01-23 2019-07-25 Motherson Innovations Company Limited Verfahren, Fahrzeug und Mobilgerät zum autonomen Parken
JP7035661B2 (ja) * 2018-03-15 2022-03-15 株式会社アイシン 駐車管制装置および車両制御装置
DE102018213485A1 (de) * 2018-08-10 2020-02-13 Robert Bosch Gmbh Verfahren zum Überwachen eines Bereichs einer Kraftfahrzeuginfrastruktur
KR20200072597A (ko) 2018-12-06 2020-06-23 현대자동차주식회사 자율 발렛 주차를 지원하는 시스템 및 방법, 그리고 이를 위한 인프라 및 차량
CN109808681B (zh) * 2019-01-21 2021-02-19 广州小鹏汽车科技有限公司 一种基于服务设备的辅助停车方法及服务设备
JP7155047B2 (ja) * 2019-03-07 2022-10-18 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
JP7096783B2 (ja) * 2019-03-15 2022-07-06 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
US20220219687A1 (en) * 2019-05-14 2022-07-14 Volkswagen Aktiengesellschaft Method for Detecting a Potential Collision by a Vehicle with a Living Thing, and Car Park Management System
CN110271558B (zh) * 2019-06-26 2021-04-13 广州小鹏汽车科技有限公司 洗车控制方法、装置、计算机设备及其存储介质
CN112208516A (zh) * 2019-07-11 2021-01-12 现代自动车株式会社 支持自动代客泊车的系统和方法以及基础设施和车辆
KR20210066984A (ko) * 2019-11-28 2021-06-08 현대자동차주식회사 자율 발렛 주차를 지원하는 시스템 및 방법, 그리고 이를 위한 인프라 및 차량
CN110987085A (zh) * 2019-12-25 2020-04-10 哈尔滨赛丝科技有限公司 多功能墙装环境检测器及其方法

Family Cites Families (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5586030A (en) * 1994-10-24 1996-12-17 Caterpillar Inc. System and method for managing access to a resource in an autonomous vehicle system
US6654648B2 (en) 2000-04-03 2003-11-25 Toyota Jidosha Kabushiki Kaisha Technique of monitoring abnormality in plurality of CPUs or controllers
US7734403B2 (en) * 2004-03-23 2010-06-08 Continental Teves Ag & Co. Ohg System for vehicle driver support for stopping and starting procedures
US7756615B2 (en) * 2005-07-26 2010-07-13 Macdonald, Dettwiler & Associates Inc. Traffic management system for a passageway environment
EP1967931A3 (en) * 2007-03-06 2013-10-30 Yamaha Hatsudoki Kabushiki Kaisha Vehicle
KR101182853B1 (ko) * 2008-12-19 2012-09-14 한국전자통신연구원 자동 주차 대행 시스템 및 방법
DE102010051203B4 (de) * 2010-11-12 2022-07-28 Zf Active Safety Gmbh Verfahren zur Erkennung von kritischen Fahrsituationen von Lastkraft- oder Personenkraftwagen, insbesondere zur Vermeidung von Kollisionen
DE102011007775A1 (de) * 2011-04-20 2012-10-25 Robert Bosch Gmbh Verfahren zum Erhöhen der Sicherheit beim Betrieb eines Fahrzeugs, Vorrichtung zur Durchführung eines solchen Verfahrens und Fahrzeug aufweisend eine solche Vorrichtung
US9205816B2 (en) * 2011-07-11 2015-12-08 Toyota Jidosha Kabushiki Kaisha Vehicle emergency evacuation device
DE102011052545B4 (de) * 2011-08-10 2013-04-11 Bombardier Transportation Gmbh Bremssteuerung für ein Fahrzeug
DE102011086241B4 (de) * 2011-11-14 2018-04-05 Robert Bosch Gmbh Verfahren zum sicheren Abstellen eines Fahrzeuges
DE102012207264B3 (de) * 2012-05-02 2013-09-12 Ford Global Technologies, Llc Verfahren zum Betreiben eines Bremsassistenzsystems in einem Fahrzeug
WO2014016911A1 (ja) * 2012-07-24 2014-01-30 トヨタ自動車株式会社 運転支援装置
CN104487309B (zh) * 2012-07-24 2017-03-08 丰田自动车株式会社 驾驶辅助装置
DE102012015968A1 (de) * 2012-08-11 2014-03-06 Audi Ag Verfahren zum fahrerlosen Bewegen eines Fahrzeugs auf einer Parkfläche
DE102012215343A1 (de) * 2012-08-29 2014-05-28 Continental Automotive Gmbh Verfahren zum Durchführen einer Sicherheitsfunktion eines Fahrzeugs und System zum Durchführen des Verfahrens
EP2722687B1 (de) * 2012-10-22 2015-04-29 Sick Ag Sicherheitsvorrichtung für ein Fahrzeug
DE102012222562A1 (de) 2012-12-07 2014-06-12 Robert Bosch Gmbh System für bewirtschaftete Parkflächen zur Überführung eines Fahrzeugs von einer Startposition in eine Zielposition
DE102013200409A1 (de) * 2013-01-14 2014-07-17 Robert Bosch Gmbh Verfahren und Vorrichtung zum Überwachen eines Umfelds eines Fahrzeugs und Verfahren zum Durchführen einer Notbremsung
KR101480602B1 (ko) * 2013-04-15 2015-01-09 현대자동차주식회사 주차 지원 장치 및 방법
DE102013213379A1 (de) * 2013-07-09 2015-01-15 Ford Global Technologies, Llc Vorrichtung und Verfahren zur Unterstützung eines Fahrers beim Ein- und Ausparken seines Fahrzeugs in einer Parkeinrichtung
DE102013218812A1 (de) * 2013-09-19 2015-03-19 Robert Bosch Gmbh Fahrerassistenzsystem für ein Kraftfahrzeug
DE102013019027A1 (de) * 2013-11-13 2015-05-13 Audi Ag Verfahren zum Betrieb eines Sicherheitssystems eines Kraftfahrzeugs und Kraftfahrzeug
CN103754241B (zh) * 2014-01-21 2016-03-23 中国铁路总公司 一种高速铁路地震紧急处置方法及系统
US9631933B1 (en) * 2014-05-23 2017-04-25 Google Inc. Specifying unavailable locations for autonomous vehicles
CN104290730B (zh) * 2014-06-20 2017-08-04 郑州宇通客车股份有限公司 一种应用于高级紧急制动系统的雷达与视频信息融合方法
DE102014014249A1 (de) * 2014-09-26 2015-03-26 Daimler Ag Verfahren zum Betrieb eines Kraftfahrzeugs, Computerprogrammprodukt sowie Kraftfahrzeug
CN104386092B (zh) * 2014-10-21 2017-02-22 卡斯柯信号有限公司 基于图像识别和多感知融合的列车自动防护系统及方法
CN104442832A (zh) * 2014-11-18 2015-03-25 柳州市金旭节能科技有限公司 一种车辆安全停车方法
JP6375237B2 (ja) * 2015-01-28 2018-08-15 日立オートモティブシステムズ株式会社 自動運転制御装置
DE102015217390A1 (de) * 2015-09-11 2017-03-16 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs sowie Verfahren zum Betreiben eines Parkplatzes
US10466061B2 (en) * 2016-12-30 2019-11-05 Nio Usa, Inc. Autonomous override safety

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
CN108027615A (zh) 2018-05-11
US10713954B2 (en) 2020-07-14
EP3347787A1 (de) 2018-07-18
US20180286249A1 (en) 2018-10-04
DE102015217389A1 (de) 2017-03-16
CN108027615B (zh) 2021-08-10
WO2017041942A1 (de) 2017-03-16

Similar Documents

Publication Publication Date Title
EP3347787B1 (de) Verfahren und vorrichtung zum betreiben eines fahrzeugs
EP3347247B1 (de) Verfahren und vorrichtung zum betreiben eines fahrzeugs sowie verfahren zum betreiben eines parkplatzes
EP3365211B1 (de) Verfahren und vorrichtung zum verringern eines kollisionsrisikos einer kollision eines kraftfahrzeugs mit einem objekt
EP3256353B1 (de) Verfahren und vorrichtung zum überwachen eines sich in einem autonomen betriebsmodus und auf einem parkplatz befindenden fahrzeugs
EP3224100B1 (de) Verfahren und vorrichtung zum betreiben von mehreren fahrzeugen
DE102014202453B4 (de) Verfahren und Systeme zur Erkennung von autonom betriebenen Fahrzeugen, zur Abstandsmessung und zur Abstandssteuerung
DE102015217386A1 (de) Verfahren und System zum Betreiben eines Kraftfahrzeugs
WO2017041941A1 (de) Verfahren und vorrichtung zum betreiben eines innerhalb eines parkplatzes fahrerlos fahrenden kraftfahrzeugs
DE102016200734A1 (de) Verfahren und Vorrichtung zum Überwachen einer fahrerlosen Fahrt eines Kraftfahrzeugs innerhalb eines Parkplatzes
DE102014210147A1 (de) Fahrzeugsteuersystem für eine autonome Führung eines Fahrzeugs
EP3268264B1 (de) Verfahren und vorrichtung zum erzeugen einer zugriffsmöglichkeit auf einen fahrzeuginnenraum
EP3882733B1 (de) Verfahren und system zum autonomen fahren eines fahrzeugs
DE102015217385B4 (de) Verfahren und Vorrichtung zum Bestimmen, ob sich im Umfeld eines innerhalb eines Parkplatzes befindlichen Kraftfahrzeugs ein Objekt befindet
DE102015204861A1 (de) Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs sowie Verfahren und Vorrichtung zum Betreiben eines Parkplatzes
EP3434561B1 (de) Einparken mit fahrzeuginformation eines nebenfahrzeugs
DE102019107515A1 (de) Fahrzeugsteuervorrichtung und Computerprogramm
DE102016002232A1 (de) Verfahren zum Betrieb eines Kraftfahrzeugs
DE102017210825A1 (de) Verfahren und Vorrichtung zum Erhöhen der Aufmerksamkeit eines Fahrers eines Fahrzeugs, Fahrzeug und Computerprogrammprodukt
DE102016220563A1 (de) Verfahren und System zur Absicherung eines stehenden Fahrzeugs
DE102015216480A1 (de) Konzept zum induktiven Laden eines Elektrokraftfahrzeugs
DE102017200432B4 (de) Verfahren zum Betreiben eines Sicherheitssystems für ein Kraftfahrzeug und Sicherheitssystem
DE102015202478A1 (de) Verfahren und Vorrichtung zum automatisierten Anhalten eines Fahrzeugs
WO2018054826A1 (de) Verfahren zum zumindest teilautomatisierten anfahren eines kraftfahrzeugs aus dem stand
DE102016226308A1 (de) Verfahren und Vorrichtung zur Fahrzeugführung eines Kraftfahrzeugs
DE102015220644A1 (de) Verfahren und Vorrichtung zum Bestimmen, ob eine Durchführung einer oder mehrerer Sicherheitsaktionen zum Verringern eines Kollisionsrisikos einer Kollision eines Kraftfahrzeugs mit einem Objekt gesteuert werden muss

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20180411

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20190715

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: ROBERT BOSCH GMBH

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20200923

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1344067

Country of ref document: AT

Kind code of ref document: T

Effective date: 20201215

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502016011930

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210310

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210309

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210309

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20201209

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210409

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502016011930

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210409

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

26N No opposition filed

Effective date: 20210910

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20210715

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20210731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210731

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210715

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210409

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210715

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210715

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210731

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1344067

Country of ref document: AT

Kind code of ref document: T

Effective date: 20210715

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210715

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20160715

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

REG Reference to a national code

Ref country code: DE

Ref legal event code: R079

Ref document number: 502016011930

Country of ref document: DE

Free format text: PREVIOUS MAIN CLASS: G05D0001020000

Ipc: G05D0001430000

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20230720

Year of fee payment: 8

Ref country code: DE

Payment date: 20230922

Year of fee payment: 8

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209